الفهرس 
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Abstract
Abstract.
The developments in applied mathematics and computational capabilities facilitate the design and implementation of control. In addition, huge developments in nanotechnology and its availability attract many of the researchers towards embedded systems especially the embedded flight control. Among the real applications are the unmanned air vehicles (UAV), which is the state of art in the last few years especially the four rotors vertical take-off and landing (VTOL) aircraft known as the quadcopter, due to their maneuverability, ease of design and control. Although it is a complete nonlinear system, this thesis gives background information on the evolution of such a vehicle followed by manipulation of mathematical representation of the Quadcopter and modeling of the intended system. A linearization of the obtained mathematical model has been achieved via algebraic manipulation, the next objective for this thesis is the autopilot design using classical and non-classical controller with justification against previous work concerning the performance requirements of time responses and flight path characteristics. So a PID controller has been designed. Also, a FUZZY logic controller has been established, the evaluation of the obtained controllers against the original one has been achieved in nonlinear environment. The evaluation results reveals that the designed PID controller has the best performance, more robust, higher stability and less control effort compared to the original and designed fuzzy controller, this gives the green light for the next step for the implementation of PID controller on MY-RIO board also a ground station is designed
to monitor the Quadcopter orientation and movement. Towards the verification of the designed controller, evaluation of the intended system was tested on real environment, and the real flight response was obtained and evaluated.